caperren/osurc_mars_rover_2017_2018
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Added function to self to include the message in self

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This commit is contained in:
Christopher Pham
2018-05-03 16:32:02 -07:00
parent e4318a9242
commit f6d2212f10
2 changed files with 263 additions and 262 deletions
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1
software/ros_packages/ground_station/src/Framework/MapSystems/RoverMapCoordinator.py
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@@ -35,6 +35,7 @@ class RoverMapCoordinator(QtCore.QThread):
self.landmark_label = self.left_screen.landmark_waypoints_table_widget self.landmark_label = self.left_screen.landmark_waypoints_table_widget
self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.edit_rover_location) self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.edit_rover_location)
self.GPS_msg = GPSInfo()
self.setings = QtCore.QSettings() self.setings = QtCore.QSettings()

524
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
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@@ -1,262 +1,262 @@
#!/usr/bin/env python #!/usr/bin/env python
# coding=utf-8 # coding=utf-8
import rospy import rospy
from rover_status.msg import * from rover_status.msg import *
from PyQt5 import QtWidgets, QtCore, QtGui, uic from PyQt5 import QtWidgets, QtCore, QtGui, uic
from std_msgs.msg import Empty from std_msgs.msg import Empty
import PIL.Image import PIL.Image
from PIL.ImageQt import ImageQt from PIL.ImageQt import ImageQt
# import Timer # import Timer
REQUEST_UPDATE_TOPIC = "/rover_status/update_requested" REQUEST_UPDATE_TOPIC = "/rover_status/update_requested"
CAMERA_TOPIC_NAME = "/rover_status/camera_status" CAMERA_TOPIC_NAME = "/rover_status/camera_status"
BOGIE_TOPIC_NAME = "/rover_status/bogie_status" BOGIE_TOPIC_NAME = "/rover_status/bogie_status"
FRSKY_TOPIC_NAME = "/rover_status/frsky_status" FRSKY_TOPIC_NAME = "/rover_status/frsky_status"
GPS_TOPIC_NAME = "/rover_status/gps_status" GPS_TOPIC_NAME = "/rover_status/gps_status"
JETSON_TOPIC_NAME = "/rover_status/jetson_status" JETSON_TOPIC_NAME = "/rover_status/jetson_status"
MISC_TOPIC_NAME = "/rover_status/misc_status" MISC_TOPIC_NAME = "/rover_status/misc_status"
class SensorCore(QtCore.QThread): class SensorCore(QtCore.QThread):
# ########## create signals for slots ########## # ########## create signals for slots ##########
jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str) jetson_cpu_update_ready__signal = QtCore.pyqtSignal(str)
jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) jetson_cpu_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_emmc_update_ready__signal = QtCore.pyqtSignal(str) jetson_emmc_update_ready__signal = QtCore.pyqtSignal(str)
jetson_emmc_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) jetson_emmc_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_gpu_temp_update_ready__signal = QtCore.pyqtSignal(str) jetson_gpu_temp_update_ready__signal = QtCore.pyqtSignal(str)
jetson_gpu_temp_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) jetson_gpu_temp_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
jetson_ram_update_ready__signal = QtCore.pyqtSignal(str) jetson_ram_update_ready__signal = QtCore.pyqtSignal(str)
jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) jetson_ram_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) bogie_connection_1_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) bogie_connection_2_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) bogie_connection_3_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) camera_zed_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) camera_under_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) camera_chassis_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) camera_main_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) gps_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str) frsky_stylesheet_change_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects): def __init__(self, shared_objects):
super(SensorCore, self).__init__() super(SensorCore, self).__init__()
self.run_thread_flag = True self.run_thread_flag = True
# ########## Reference to class init variables ########## # ########## Reference to class init variables ##########
self.shared_objects = shared_objects self.shared_objects = shared_objects
self.screen_main_window = self.shared_objects["screens"]["left_screen"] self.screen_main_window = self.shared_objects["screens"]["left_screen"]
# self.cpu_read = self.screen_main_window.lineEdit # type: QtWidgets.QLabel # self.cpu_read = self.screen_main_window.lineEdit # type: QtWidgets.QLabel
# self.ram_read = self.screen_main_window.lineEdit_2 # type: QtWidgets.QLabel # self.ram_read = self.screen_main_window.lineEdit_2 # type: QtWidgets.QLabel
# ########## set vars to gui elements # ########## set vars to gui elements
self.osurc_logo_label = self.screen_main_window.osurc_logo_label # type: QtWidgets.QLabel self.osurc_logo_label = self.screen_main_window.osurc_logo_label # type: QtWidgets.QLabel
self.rover_conn = self.screen_main_window.rover # type: QtWidgets.QLabel self.rover_conn = self.screen_main_window.rover # type: QtWidgets.QLabel
self.frsky = self.screen_main_window.frsky # type: QtWidgets.QLabel self.frsky = self.screen_main_window.frsky # type: QtWidgets.QLabel
self.nav_mouse = self.screen_main_window.nav_mouse # type: QtWidgets.QLabel self.nav_mouse = self.screen_main_window.nav_mouse # type: QtWidgets.QLabel
self.joystick = self.screen_main_window.joystick # type: QtWidgets.QLabel self.joystick = self.screen_main_window.joystick # type: QtWidgets.QLabel
self.gps = self.screen_main_window.gps # type: QtWidgets.QLabel self.gps = self.screen_main_window.gps # type: QtWidgets.QLabel
self.zed = self.screen_main_window.zed # type: QtWidgets.QLabel self.zed = self.screen_main_window.zed # type: QtWidgets.QLabel
self.main_cam = self.screen_main_window.main_cam # type: QtWidgets.QLabel self.main_cam = self.screen_main_window.main_cam # type: QtWidgets.QLabel
self.chassis_cam = self.screen_main_window.chassis_cam # type: QtWidgets.QLabel self.chassis_cam = self.screen_main_window.chassis_cam # type: QtWidgets.QLabel
self.under_cam = self.screen_main_window.under_cam # type: QtWidgets.QLabel self.under_cam = self.screen_main_window.under_cam # type: QtWidgets.QLabel
self.bogie_right = self.screen_main_window.right_bogie # type: QtWidgets.QLabel self.bogie_right = self.screen_main_window.right_bogie # type: QtWidgets.QLabel
self.bogie_left = self.screen_main_window.left_bogie # type: QtWidgets.QLabel self.bogie_left = self.screen_main_window.left_bogie # type: QtWidgets.QLabel
self.bogie_rear = self.screen_main_window.rear_bogie # type: QtWidgets.QLabel self.bogie_rear = self.screen_main_window.rear_bogie # type: QtWidgets.QLabel
self.clock = self.screen_main_window.clock_qlcdnumber # type: QtWidgets.QLCDNumber self.clock = self.screen_main_window.clock_qlcdnumber # type: QtWidgets.QLCDNumber
self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel
self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel
self.gpu_temp = self.screen_main_window.gpu_temp # type: QtWidgets.QLabel self.gpu_temp = self.screen_main_window.gpu_temp # type: QtWidgets.QLabel
self.emmc = self.screen_main_window.emmc # type: QtWidgets.QLabel self.emmc = self.screen_main_window.emmc # type: QtWidgets.QLabel
# ########## subscriptions pulling data from system_statuses_node.py ########## # ########## subscriptions pulling data from system_statuses_node.py ##########
self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback) self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback) self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback)
self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback) self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback)
self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback) self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback)
self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback) self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
self.misc_status = rospy.Subscriber(MISC_TOPIC_NAME, MiscStatuses, self.__misc_callback) self.misc_status = rospy.Subscriber(MISC_TOPIC_NAME, MiscStatuses, self.__misc_callback)
self.camera_msg = CameraStatuses() self.camera_msg = CameraStatuses()
self.bogie_msg = BogieStatuses() self.bogie_msg = BogieStatuses()
self.FrSky_msg = FrSkyStatus() self.FrSky_msg = FrSkyStatus()
self.GPS_msg = GPSInfo() self.GPS_msg = GPSInfo()
self.jetson_msg = JetsonInfo() self.jetson_msg = JetsonInfo()
self.misc_msg = MiscStatuses() self.misc_msg = MiscStatuses()
self.update_requester = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=10) self.update_requester = rospy.Publisher(REQUEST_UPDATE_TOPIC, Empty, queue_size=10)
# Apply OSURC Logo # Apply OSURC Logo
self.osurc_logo_pil = PIL.Image.open("Resources/Images/osurclogo.png").resize((210, 75), PIL.Image.BICUBIC) self.osurc_logo_pil = PIL.Image.open("Resources/Images/osurclogo.png").resize((210, 75), PIL.Image.BICUBIC)
self.osurc_logo_pixmap = QtGui.QPixmap.fromImage(ImageQt(self.osurc_logo_pil)) self.osurc_logo_pixmap = QtGui.QPixmap.fromImage(ImageQt(self.osurc_logo_pil))
self.osurc_logo_label.setPixmap(self.osurc_logo_pixmap) # Init should be in main thread, should be fine self.osurc_logo_label.setPixmap(self.osurc_logo_pixmap) # Init should be in main thread, should be fine
def __camera_callback(self, data): def __camera_callback(self, data):
self.camera_msg.camera_zed = data.camera_zed self.camera_msg.camera_zed = data.camera_zed
self.camera_msg.camera_undercarriage = data.camera_undercarriage self.camera_msg.camera_undercarriage = data.camera_undercarriage
self.camera_msg.camera_chassis = data.camera_chassis self.camera_msg.camera_chassis = data.camera_chassis
self.camera_msg.camera_main_navigation = data.camera_main_navigation self.camera_msg.camera_main_navigation = data.camera_main_navigation
if data.camera_zed is False: if data.camera_zed is False:
# self.zed.setStyleSheet("background-color: red;") # self.zed.setStyleSheet("background-color: red;")
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkred;") self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.zed.setStyleSheet("background-color: darkgreen;") # self.zed.setStyleSheet("background-color: darkgreen;")
self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.camera_zed_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.camera_undercarriage is False: if data.camera_undercarriage is False:
# self.under_cam.setStyleSheet("background-color: darkred;") # self.under_cam.setStyleSheet("background-color: darkred;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;") self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.under_cam.setStyleSheet("background-color: darkgreen;") # self.under_cam.setStyleSheet("background-color: darkgreen;")
self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.camera_under_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.camera_chassis is False: if data.camera_chassis is False:
# self.chassis_cam.setStyleSheet("background-color: darkred;") # self.chassis_cam.setStyleSheet("background-color: darkred;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;") self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.chassis_cam.setStyleSheet("background-color: darkgreen;") # self.chassis_cam.setStyleSheet("background-color: darkgreen;")
self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.camera_chassis_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.camera_main_navigation is False: if data.camera_main_navigation is False:
# self.main_cam.setStyleSheet("background-color: darkred;") # self.main_cam.setStyleSheet("background-color: darkred;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;") self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.main_cam.setStyleSheet("background-color: darkgreen;") # self.main_cam.setStyleSheet("background-color: darkgreen;")
self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.camera_main_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __frsky_callback(self, data): def __frsky_callback(self, data):
self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
if self.FrSky_msg.FrSky_controller_connection_status is False: if self.FrSky_msg.FrSky_controller_connection_status is False:
self.frsky_stylesheet_change_ready__signal.emit("background-color: darkred;") self.frsky_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __bogie_callback(self, data): def __bogie_callback(self, data):
self.bogie_msg.bogie_connection_1 = data.bogie_connection_1 self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
self.bogie_msg.bogie_connection_2 = data.bogie_connection_2 self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3 self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
if data.bogie_connection_1 is False: if data.bogie_connection_1 is False:
# self.bogie_right.setStyleSheet("background-color: darkred;") # self.bogie_right.setStyleSheet("background-color: darkred;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;") self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.bogie_right.setStyleSheet("background-color: darkgreen;") # self.bogie_right.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.bogie_connection_2 is False: if data.bogie_connection_2 is False:
# self.bogie_left.setStyleSheet("background-color: darkred;") # self.bogie_left.setStyleSheet("background-color: darkred;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;") self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.bogie_left.setStyleSheet("background-color: darkgreen;") # self.bogie_left.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.bogie_connection_3 is False: if data.bogie_connection_3 is False:
# self.bogie_rear.setStyleSheet("background-color: darkred;") # self.bogie_rear.setStyleSheet("background-color: darkred;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;") self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
# self.bogie_rear.setStyleSheet("background-color: darkgreen;") # self.bogie_rear.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __jetson_callback(self, data): def __jetson_callback(self, data):
self.jetson_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%") self.jetson_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%")
if data.jetson_CPU > 85: if data.jetson_CPU > 85:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: orange;")
elif data.jetson_CPU > 95: elif data.jetson_CPU > 95:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkred;") self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.jetson_cpu_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_ram_update_ready__signal.emit("TX2 RAM\n" + str(data.jetson_RAM) + "%") self.jetson_ram_update_ready__signal.emit("TX2 RAM\n" + str(data.jetson_RAM) + "%")
if data.jetson_RAM > 79: if data.jetson_RAM > 79:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: orange;")
elif data.jetson_RAM > 89: elif data.jetson_RAM > 89:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkred;") self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.jetson_ram_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_gpu_temp_update_ready__signal.emit("TX2 TEMP\n" + str(data.jetson_GPU_temp) + "°C") self.jetson_gpu_temp_update_ready__signal.emit("TX2 TEMP\n" + str(data.jetson_GPU_temp) + "°C")
if data.jetson_GPU_temp > 64: if data.jetson_GPU_temp > 64:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: orange;")
elif data.jetson_GPU_temp > 79: elif data.jetson_GPU_temp > 79:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkred;") self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.jetson_gpu_temp_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
self.jetson_emmc_update_ready__signal.emit("TX2 EMMC\n" + str(data.jetson_EMMC) + "%") self.jetson_emmc_update_ready__signal.emit("TX2 EMMC\n" + str(data.jetson_EMMC) + "%")
if data.jetson_EMMC > 79: if data.jetson_EMMC > 79:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;") self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: orange;")
elif data.jetson_EMMC > 89: elif data.jetson_EMMC > 89:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkred;") self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkgreen") self.jetson_emmc_stylesheet_change_ready__signal.emit("background-color: darkgreen")
def __gps_callback(self, data): def __gps_callback(self, data):
self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
if not data.GPS_connection_status: if not data.GPS_connection_status:
self.gps_stylesheet_change_ready__signal.emit("background-color: darkred;") self.gps_stylesheet_change_ready__signal.emit("background-color: darkred;")
else: else:
self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;") self.gps_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __misc_callback(self, data): def __misc_callback(self, data):
self.misc_msg.arm_connection_status = data.arm_connection_status self.misc_msg.arm_connection_status = data.arm_connection_status
self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
self.misc_msg.tower_connection_status = data.tower_connection_status self.misc_msg.tower_connection_status = data.tower_connection_status
self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
def __display_time(self): def __display_time(self):
time = QtCore.QTime.currentTime() time = QtCore.QTime.currentTime()
temp = time.toString('hh:mm') temp = time.toString('hh:mm')
self.clock.display(temp) self.clock.display(temp)
def run(self): def run(self):
while self.run_thread_flag: while self.run_thread_flag:
self.update_requester.publish(Empty()) self.update_requester.publish(Empty())
self.__display_time() self.__display_time()
self.msleep(1000) self.msleep(1000)
def connect_signals_and_slots(self): def connect_signals_and_slots(self):
self.jetson_cpu_update_ready__signal.connect(self.cpu.setText) self.jetson_cpu_update_ready__signal.connect(self.cpu.setText)
self.jetson_cpu_stylesheet_change_ready__signal.connect(self.cpu.setStyleSheet) self.jetson_cpu_stylesheet_change_ready__signal.connect(self.cpu.setStyleSheet)
self.jetson_ram_update_ready__signal.connect(self.ram.setText) self.jetson_ram_update_ready__signal.connect(self.ram.setText)
self.jetson_ram_stylesheet_change_ready__signal.connect(self.ram.setStyleSheet) self.jetson_ram_stylesheet_change_ready__signal.connect(self.ram.setStyleSheet)
self.jetson_emmc_update_ready__signal.connect(self.emmc.setText) self.jetson_emmc_update_ready__signal.connect(self.emmc.setText)
self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet) self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet)
self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText) self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText)
self.jetson_gpu_temp_stylesheet_change_ready__signal.connect(self.gpu_temp.setStyleSheet) self.jetson_gpu_temp_stylesheet_change_ready__signal.connect(self.gpu_temp.setStyleSheet)
self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet) self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet)
self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet) self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet)
self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet) self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet)
self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet) self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet)
self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet) self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet) self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)
self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet) self.camera_main_stylesheet_change_ready__signal.connect(self.main_cam.setStyleSheet)
self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet) self.gps_stylesheet_change_ready__signal.connect(self.gps.setStyleSheet)
self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet) self.frsky_stylesheet_change_ready__signal.connect(self.frsky.setStyleSheet)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal): def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start) start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots) signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot) kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self): def on_kill_threads_requested__slot(self):
self.run_thread_flag = False self.run_thread_flag = False
if __name__ == '__main__': if __name__ == '__main__':
rover_statuses = SensorCore() rover_statuses = SensorCore()
rover_statuses.run() rover_statuses.run()